Wear-type joint drive device

ABSTRACT

Provided is a wearable joint driving device in which a plurality of frame members are attached to a wearing body so as to be in contact with the outer surface of the wearing body. Between the frame members, there is mounted a fluid pressure type actuator. The fluid pressure type actuator has an expansion/contraction member and a net-like covering member covering the outer periphery of the expansion/contraction member. The fluid pressure type actuator undergoes a reduction in length through expansion of the expansion/contraction member to thereby generate a driving force. The frame members have a predetermined level of rigidity.

TECHNICAL FIELD

The present invention relates to a wearable joint driving device worn bya human body or the like to allow a joint portion to make a movement.

BACKGROUND ART

JP 2002-103270 A discloses a wearable joint driving device worn by ahuman body to allow a joint portion to make a movement. In theconventional wearable joint driving device, a plurality of pneumaticactuators, which are reduced in length through air supply to generate adriving force, are mounted to clothes worn by the human body. That is,in the above-mentioned device, by reducing the length of the pneumaticactuators, a contraction force is exerted between link bodies formed inthe clothes, thereby driving joint portions of the human body.

However, in the above conventional wearable joint driving device, aforce from the pneumatic actuators acts on the link bodies of theclothes formed of a flexible material such as cloth, so that wrinkles,looseness, or the like may be generated in the clothes, and the clothesmay be deviated with respect to the human body. Accordingly, there is afear of the operating amount of the pneumatic actuators not beingproperly transmitted to the human body, making it impossible to obtain asufficient operating amount and driving force for practical use.

DISCLOSURE OF THE INVENTION

The present invention has been made with a view toward solving the aboveproblem. It is an object of the present invention to provide a wearablejoint driving device capable of achieving an improvement in drivingforce transmission efficiency and an increase in operating amount anddriving force.

To this end, according to one aspect of the present invention, there isprovided a wearable joint driving device worn by a driven body having aplurality of wearing members and at least one joint portion rotatablyconnecting the wearing members to drive the joint portion, the wearablejoint driving device comprising: a plurality of frame members of apredetermined rigidity to be attached to the wearing members so as to bein contact with outer surfaces of the wearing members; at least onefluid pressure type actuator having an expansion/contraction memberundergoing expansion/contraction through supply/discharge of a fluid anda net-like covering member covering an outer periphery of theexpansion/contraction member, and mounted between the frame members, theexpansion/contraction member being reduced in length through expansionto thereby generate a driving force; and a control unit for controllingsupply and discharge of the fluid to and from the fluid pressure typeactuator.

According to another aspect of the present invention, there is provideda wearable joint driving device worn by a driven body having first andsecond wearing members and a joint portion rotatably connecting thefirst and second wearing members to drive the joint portion, thewearable joint driving device comprising: a first frame member to beattached to the first wearing member; a second frame member to beattached to the second wearing member; a rotation support memberrotatably connected to the first frame member; a second frame memberactuator provided between at least one of the first frame member and therotation support member and the second frame member and adapted torotate the second frame member with respect to the first frame member;and a support member actuator provided between the first frame memberand the rotation support member and adapted to rotate the rotationsupport member with respect to the first frame member, wherein thesecond frame member actuator and the support member actuator are fluidpressure type actuators respectively having an expansion/contractionmember undergoing expansion/contraction through supply/discharge of afluid and a net-like covering member covering an outer periphery of theexpansion/contraction member, the expansion/contraction member beingreduced in length through expansion to generate a driving force, whereinthe second frame member is rotated from a first position to a secondposition with respect to the first frame member by the driving force ofthe second frame member actuator, and wherein, by driving the supportmember actuator with the second frame member being at the secondposition, the second frame member is rotated together with the rotationsupport member, whereby the second frame member is rotated to a thirdposition where the angle the second frame member makes with the firstposition is larger than that when the second frame member is at thesecond position.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a front view of a wearable joint driving device according toEmbodiment 1 of the present invention;

FIG. 2 is a side view of an actuator of FIG. 1;

FIG. 3 is a side view of the actuator of FIG. 1 in a swollen state;

FIG. 4 is a block diagram showing the wearable joint driving device ofFIG. 1;

FIG. 5 is a front view showing an upper arm frame of FIG. 1 as rotatedto a second position;

FIG. 6 is a front view showing the upper arm frame of FIG. 5 as rotatedto a third position;

FIG. 7 a is a side view of a wearable joint driving device according toEmbodiment 2 of the present invention;

FIG. 7 b is a sectional view taken along the line A-A of FIG. 7 a;

FIG. 7 c is a sectional view showing a state in which air has beensupplied to a frame tube of FIG. 7 b;

FIG. 8 is a block diagram showing the wearable joint driving device ofFIG. 7 a;

FIG. 9 is a perspective view, as seen obliquely from the frontright-hand side, of a wearable joint driving device according toEmbodiment 3 of the present invention;

FIG. 10 is a perspective view, as seen obliquely from the frontleft-hand side, of the wearable joint driving device of FIG. 9;

FIG. 11 is a perspective view, as seen obliquely from the rear left-handside, of the wearable joint driving device of FIG. 9;

FIG. 12 is an exploded perspective view showing the left-arm side frameconstruction of the wearable joint driving device of FIG. 9;

FIG. 13 is a perspective view of a joint portion of FIG. 9; and

FIG. 14 is a perspective view of a torso frame of a wearable jointdriving device according to Embodiment 4 of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

In the following, preferred embodiments of the present invention will bedescribed with reference to the drawings.

EMBODIMENT 1

FIG. 1 is a front view of a wearable joint driving device according toEmbodiment 1 of the present invention. In this example, the device shownis of a type which is worn by the upper part of a human body and whichdrives a shoulder joint portion and an elbow joint portion of one arm.Further, in this example, what is driven is a part of a human body. Thetorso (body) constitutes a first wearing body, the upper arm constitutesa second wearing body, and the forearm constitutes a third wearing body.The body and the upper arm are connected by the shoulder joint portion,and the upper arm and the forearm are connected by the elbow jointportion.

In the drawing, a torso frame 1 as a first frame member is put on thetorso. The torso frame 1 is provided with a sleeve opening 1 a throughwhich the arm is to be passed. Further, inside the torso frame 1, thereis provided a fixation belt (not shown) for preventing movement of thetorso frame 1 relative to the torso.

An upper arm frame 2 as a second frame member is put on the upper arm.That is, the upper arm is passed through the cylindrical upper arm frame2. The upper arm frame 2 is rotatably connected to the torso frame 1 ata connecting portion 3. A shoulder frame 4 as a rotation support memberis rotatably connected to the torso frame 1 through the intermediationof a connecting portion 5. The connecting portions 3, 5 are spaced apartfrom each other. That is, the positions of the respective rotationcenters of the upper arm frame 2 and the shoulder frame 4 are deviatedfrom each other.

A forearm frame 6 is put on the forearm. That is, the forearm is passedthrough the cylindrical forearm frame 6. The torso frame 1, the upperarm frame 2, and the forearm frame 6 are attached so as to berespectively brought into contact with the outer surfaces of the torso,the upper arm, and the forearm. Further, the torso frame 1, the upperarm frame 2, the shoulder frame 4, and the forearm frame 6 have apredetermined level of rigidity that allows the same operationirrespective of whether they are on the human body or not. Morespecifically, the frames 1, 2, 4, 6 are formed by non-metal soft framesconsisting of hard resin or sponge covered with cloth.

Between the torso frame 1 and the upper arm frame 2, there is provided atubular first actuator 7 as the second frame member actuator forrotating the upper arm frame 2 relative to the torso frame 1. The endportions of the first actuator 7 are respectively fixed to the othershoulder portion of the torso frame 1 and the portion of the upper armframe 2 in the vicinity of the elbow joint.

Between the shoulder frame 4 and the upper arm frame 2, there isprovided a tubular second actuator 8 as the second frame member actuatorfor attracting the upper arm frame 2 to the shoulder frame 4. The endportions of the second actuator 8 are respectively fixed to the portionof the shoulder frame 4 in the vicinity of the shoulder portion and theportion of the upper arm frame 2 in the vicinity of the elbow joint. Theshoulder frame 4 is provided with a guide portion (guide hole) 4 athrough which the first and second actuators 7, 8 are passed.

Between the torso frame 1 and the shoulder frame 4, there is provided atubular third actuator 9 as the auxiliary member actuator for rotatingthe shoulder frame 4 relative to the torso frame 1. The end portions ofthe third actuator 9 are fixed to the other shoulder portion of thetorso frame 1 and the portion of the shoulder frame 4 in the vicinity ofthe forward end thereof.

Between the upper arm frame 2 and the forearm frame 6, there areprovided tubular fourth and fifth actuators 10, 11 for rotating theforearm 6 relative to the upper arm frame 2. The end portions of thefourth and fifth actuators 10, 11 are respectively fixed to the portionof the upper arm frame 2 in the vicinity of the elbow joint, the portionof the forearm frame 6 in the vicinity of the elbow joint, and theportion of the forearm frame 6 in the vicinity of the forward endthereof.

While it is possible to attach, apart from the above-mentioned ones, aplurality of other actuators to the frames 1, 2, 4, 6 according to thedirections in which the joint portions are to be moved and the requisitedriving forces, only the first through fifth actuators 7 through 11 areshown here for the sake of simplicity.

FIG. 2 is a side view of each of the actuators 7 through 11 of FIG. 1,and FIG. 3 is a side view of each of the actuators 7 through 11 of FIG.1 in a swollen state. While in FIG. 1 the first through fifth actuators7 through 11 are shown simply as curves, each of the actuators 7 through11 has a construction as shown in FIGS. 2 and 3. Further, in FIGS. 2 and3, part of the mesh sleeve is cut away in order to show the internalstructure.

In the drawings, as the first through fifth actuators 7 through 11,pneumatic actuators, which are fluid pressure type actuators, are used.Connected to one end in the longitudinal direction of an inner tube 12as an expansion/contraction body is a supply/discharge pipe 15 forsupplying and discharging air serving as the fluid to and from the innertube 12. A bush (not shown) is inserted into the other longitudinal endportion of the inner tube 12 for hermetic sealing. The inner tube 12 isformed of an elastic material such as silicone rubber or butyl rubber.

The outer periphery of the inner tube 12 is covered with a mesh sleeve13, which is a net-like covering member. The mesh sleeve 13 is formed,for example, of filaments (wires) of high tensile fibers or the likesuch as nylon or polyester fiber that has no elasticity. In the meshesof the mesh sleeve 13, the fibers are woven so as to cross thelongitudinal direction of the mesh sleeve 13. The longitudinal endportions of the mesh sleeve 13 are fastened by fastening members 14 a,14 b, whereby they are fixed to the end portions of the inner tube 12.

The inner tube 12 expands when air is supplied into it. Since thefilaments forming the mesh sleeve 13 have no elasticity, the expansionof the inner tube 12 is converted to a reduction in the total length ofthe actuator. That is, when supplied with air, the length of each of theactuators 7 through 11 is reduced while its diameter increases. Due tothis reduction in length, the actuators 7 through 11 generates drivingforce (pulling force).

Next, FIG. 4 is a block diagram showing the construction of the drivecontrol portion of the wearable joint driving device of FIG. 1. Theactuators 7 through 11 are supplied with air from a compressed airsupply portion 16 consisting, for example, of a small air compressor.The pressure of the air supplied from the compressed air supply portion16 to the actuators 7 through 11 is adjusted by one or a plurality ofpressure controllers 17. Further, the supply of air to the actuators 7through 11 is effected selectively or in parallel by an output selector18. The compressed air supply portion 16, the pressure controller 17,and the output selector 18 are controlled by a control computer 19. Acontrol unit has the pressure controller 17 and the output selector 18.

Next, the operation of the device will be described. By supplying air tothe first and second actuators 7, 8, the first and second actuators 7, 8are reduced in length, and as shown in FIG. 5, the upper arm frame 2 israised. When, in this state, air is supplied to the third actuator 9,the upper arm frame 2 is further raised together with the shoulder frame4 as shown in FIG. 6.

That is, the upper arm frame 2 is rotated from a first position (FIG. 1)to a second position (FIG. 5) relative to the torso frame 1 by thedriving force of the first and second actuators 7, 8. Then, by drivingthe third actuator 9, with the upper arm frame 2 being at the secondposition (FIG. 5), the upper arm frame 2 is rotated together with theshoulder frame 4. As a result, the upper arm frame 2 is rotated to athird position (FIG. 6) where the angle it makes with the first position(FIG. 1) is larger than that when it is at the second position (FIG. 5).

In the wearable joint driving device described above, the torso frame 1,the upper arm frame 2, the shoulder frame 4, and the forearm frame 6have a predetermined level of rigidity which, even if they are not onthe human body, allows them to operate in the same manner as when theyare on the human body, so that generation of wrinkles and looseness inthe frames 1, 2, 4, 6 is prevented, making it possible to achieve animprovement in terms of driving force transmission efficiency and toachieve an increase in operating amount and driving force.

That is, the frames 1, 2, 4, 6 also function as armor-like frames likethe outer skeleton of a crustacean, such as an insect. Regarding thecombination and arrangement of the frames, it is desirable to adopt,taking into account the actual arrangement of bones, joint portions, andmuscles of the human, ones in which there is no local excessive load onthe skin, bones, and joints in various limb portions, making therotation centers of the joint portions as the same as or equivalent tothose for the movements of the human body.

Further, due to the use of the shoulder frame 4 and the third actuator 9for rotating the shoulder frame 4, it is possible to extend the rotationrange for the upper arm frame 2. That is, with the first actuator 7alone, it is only possible to outwardly rotate the upper arm frame 2 byapproximately 70 degrees, whereas, by rotating the upper arm frame 2together with the shoulder frame 4 by means of the third actuator 9,outward rotation by 90 degrees or more is possible.

By thus adding the shoulder frame 4 and the third actuator 9, theshoulder and the peripheral joint portion have ceased to be treated as ajoint with only one rotation axis, making it possible to realize anoperation equivalent to that of the human body, in which the rotationcenter undergoes transition according to the operation.

Further, inside the torso frame 1, there is provided a belt for fixingthe torso frame 1 to the human body, so that absorption of the drivingforce of the actuators 7 through 11 by the movement of the torso frame 1is prevented, making it possible to achieve a further improvement indriving force transmission efficiency. Further, the force from theactuators 7 through 11 is received by the torso frame 1, and not by thebelt, so that no load from the belt is applied to the wearing person.

While in the above example the shoulder frame 4 and the third actuator 9are used in order to expand the rotation range for the upper arm frame2, it is also possible to use a rotation support member and an auxiliarymember actuator for expanding the rotation range for another framemember.

Further, while the example shown above consists of a wearable jointdriving device for driving one arm, it is also possible to put thedevice on some other portion of the human body to drive some other jointportion.

EMBODIMENT 2

Next, FIG. 7 a is a side view of a wearable joint driving deviceaccording to Embodiment 2 of the present invention, FIG. 7 b is asectional view taken along the line A-A of FIG. 7 a, FIG. 7 c is asectional view showing a state in which air has been supplied to theframe tube of FIG. 7 b, and FIG. 8 is a block diagram showing theconstruction of the operation control portion of the wearable jointdriving device of FIG. 7 a. In this example, the device shown is of thetype which is put on a knee portion of the human body to cause the kneejoint to make bending and stretching motions. Further, a thigh portionand a lower leg portion, to which this device is put on, are rotatablyconnected at the knee portion constituting the joint portion.

In the drawings, a frame member 21 has a support member 22 on which thethigh portion and the lower leg portion are placed, and first and secondframe tubes 23, 24 contained in the support member 22. Air is suppliedto the first and second frame tubes 23, 24 through a supply/dischargetube 25. By supplying air to the frame tubes 23, 24, the frame member 21attains a predetermined level of rigidity, and the frame member 21 isflexible with the air discharged therefrom.

The support member 22 has a first accommodating portion 22 aaccommodating the first frame tubes 23, a second accommodating portion22 b accommodating the second frame tubes 24, a first actuator insertingportion 22 c, and a second actuator inserting portion 22 d. As shown insection in FIG. 7 b, the first accommodating portion 22 a and the secondaccommodating portion 22 b are formed such that the top portions of thetubes arranged in parallel are connected to each other.

A first actuator 26 is inserted into the first actuator insertingportion 22 c. The end portions of the first actuator 26 are fixed to thesupport member 22. A second actuator 27 is inserted into the secondactuator inserting portion 22 d. The end portions of the second actuator27 are fixed to the support member 22. The construction of the first andsecond actuators 26, 27 is the same as that shown in FIGS. 2 and 3.

In the wearable joint driving device described above, by supplying airto the first and second frame tubes 23, 24, the first and secondaccommodating portions 22 a, 22 b are formed into a concaveconfiguration as shown in FIG. 7 c, wrapping the thigh portion and thelower leg portion placed thereon. Then, by supplying and discharging airto and from the first and second actuators 26, 27, a pulling force isexerted on the frame member 21, allowing the knee joint to bend andstretch. At this time, due to the supply of air to the frame tubes 23,24, the frame member 21 attains a predetermined level of rigidity (alevel of rigidity allowing the same operation irrespective of whether itis on the human body or not), so that it is possible to achieve animprovement in terms of driving force transmission efficiency, making itpossible to increase the operating amount and the driving force.Further, with air discharge therefrom, the frame member 21 is flexible,so that it is possible to achieve an improvement in terms of comfortduring use. Further, when the device is not in use, its accommodationand transportation can be facilitated. Further, it is possible toachieve a reduction in the weight of the device as a whole, and animprovement in terms of comfort when the device on the human body.

As indicated by the chain line in FIG. 7 b, in this embodiment, thesupport member 22 may form on the front side or the back side of theframe tubes 23, 24 a bag-like member 28 into which the arm or the leg isto be inserted.

EMBODIMENT 3

Next, FIG. 9 is a perspective view, as seen obliquely from the frontright-hand side, of a wearable joint driving device according toEmbodiment 3 of the present invention; FIG. 10 is a perspective view, asseen obliquely from the front left-hand side, of the wearable jointdriving device of FIG. 9; FIG. 11 is a perspective view, as seenobliquely from the rear left-hand side, of the wearable joint drivingdevice of FIG. 9; and FIG. 12 is an exploded perspective view showingthe left-arm side frame construction of the wearable joint drivingdevice of FIG. 9. While FIGS. 9 through 11 only show an actuator fordriving the left arm for the sake of simplicity, in reality, there isarranged, symmetrically therewith, an actuator for driving the rightarm.

In the drawings, a torso frame 31 as a first frame member is put on thetorso. The torso frame 31 is provided with a head portion insertion hole31 a through which the head portion is to be passed. Further, the torsoframe 31 has a torso frame main body 32 supported by the shoulder, achest frame 33 rotatably connected to the torso frame main body 32through the intermediation of a plurality of hinges 34 and abutting thechest portion, and a protrusion 35 protruding upwardly from the backportion of the torso frame main body 32 and facing the neck or the backof the head.

In this way, the torso frame 31 does not entirely cover the upper partof the body but sandwiches solely the chest portion and the upper partof the back between front and rear. The chest frame 33 is rotatedrelative to the torso frame main body 32 according to the figure of thewearing person.

A shoulder frame 37 as a rotation support member is connected to eachshoulder portion of the torso frame main body 32 through theintermediation of a joint portion 36. The shoulder frame 37 has aring-like shoulder frame main body 38 connected to the joint portion 36,and a ring-like shoulder frame rotating portion 39 rotatably fit-engagedwithin the shoulder frame main body 38.

The shoulder frame main body 38 is provided with an extension 38 a withan arcuate sectional configuration extending outwards. Further, on theinner peripheral surface of the shoulder frame main body 38, there isprovided a protrusion 38 b (FIG. 12) guiding the rotation of theshoulder frame rotating portion 39.

The shoulder frame rotating portion 39 is provided with a pair of upperarm frame connecting portions 39 a. Further, in the outer peripheralsurface of the shoulder frame rotating portion 39, there is provided aguide groove 39 b (FIG. 12) into which the protrusion 38 b is inserted.When the shoulder frame rotating portion 39 is rotated relative to theshoulder frame main body 38, the protrusion 38 b makes a relativesliding movement within the guide groove 39 b.

A cylindrical upper arm frame 41 as a second frame member is connectedto the shoulder frame rotating portion 39 through the intermediation ofa pair of upper arm frame connecting belts 40. The upper end portions ofthe upper arm frame connecting belts 40 are fixed to the upper arm frameconnecting portions 39 a.

The upper arm frame 41 has a cylindrical upper arm frame main body 42connected to the upper arm frame connecting belts 40, and a ring-likeupper arm frame rotating portion 43 rotatably fit-engaged with the outerperipheral portion of the upper arm frame main body 42.

On the outer peripheral surface of the upper arm frame main body 42,there are provided a pair of protrusions 42 a (FIG. 12) guiding therotation of the upper arm frame rotating portion 43. The upper arm framerotating portion 43 is provided with a pair of guide slits 43 a intowhich the protrusions 42 a are inserted. When the upper arm framerotating portion 43 is rotated relative to the upper arm frame main body42, the protrusions 42 a make a relative sliding movement within theguide slits 43 a.

A cylindrical forearm frame 45 is connected to the upper arm framerotating portion 43 through the intermediation of a pair of link members44. Each link member 44 has a first link member 44 a connected to theupper arm frame rotating portion 43, and a second link member 44 bconnected to the forearm frame 45. The first and second link members 44a, 44 b are rotatably connected to each other.

The torso frame 31, the shoulder frame 37, the upper arm frame 41, andthe forearm frame 45 are formed of a metal, such as aluminum or aluminumalloy.

Between the upper end portion of the protrusion 35 and the forward endportion of the extension 38 a, there is provided a first actuator 51 asan auxiliary member actuator for rotating the shoulder frame 37 relativeto the torso frame 31. The end portions of the first actuator 51 arerespectively fixed to the protrusion 35 and the extension 38 a.

Between the chest frame 33 and the forward end portion of the extension38 a, there is provided a second actuator 52 as an auxiliary memberactuator for rotating the shoulder frame 37 relative to the torso frame31. The end portions of the second actuator 52 are respectively fixed tothe chest frame 33 and the extension 38 a.

Between the back surface of the torso frame main body 32 and the forwardend portion of the extension 38 a, there is provided a third actuator 53(shown only in FIG. 11) as an auxiliary member actuator for rotating theshoulder frame 37 relative to the torso frame 31. The end portions ofthe third actuator 53 are respectively fixed to the torso frame mainbody 32 and the extension 38 a.

Between the back surface of the shoulder frame main body 38 and thefront surface of the upper arm frame main body 42, there is provided afourth actuator 54 for rotating the upper arm frame 41 and the shoulderframe rotating portion 39 relative to the shoulder frame main body 38.The fourth actuator 54 is arranged so as to be wrapped around the outerperipheral surface of the shoulder frame main body 38. Further, the endportions of the fourth actuator 54 are respectively fixed to theshoulder frame main body 38 and the upper arm frame main body 42.

Between the front surface of the shoulder frame 38 and the back surfaceof the upper arm frame main body 42, there is provided a fifth actuator55 for rotating the upper arm frame 41 and the shoulder frame rotatingportion 39 relative to the shoulder frame main body 38. The fifthactuator 55 is arranged so as to be wrapped around the outer peripheralsurface of the shoulder frame main body 38. Further, the end portions ofthe fifth actuator 55 are respectively fixed to the shoulder frame mainbody 38 and the upper arm frame main body 42.

The driving forces generated by the fourth and fifth actuators 54, 55are in opposite directions.

Between the upper end portion of the protrusion 35 and the outer sidesurface (the side surface of the side opposite to the torso) of theupper arm frame main body 42, there is provided a sixth actuator 56 as asecond frame member actuator for rotating the upper arm frame 41relative to the torso frame 31. The end portions of the sixth actuator56 are respectively fixed to the protrusion 35 and the upper arm framemain body 42.

Between the upper arm frame main body 42 and the upper arm framerotating portion 43, there are provided seventh and eighth actuators 57,58 for rotating the upper arm frame rotating portion 43 and the forearmframe 45 relative to the upper arm frame main body 42. The seventh andeighth actuators 57, 58 are arranged so as to be wrapped around theouter peripheral surface of the upper arm frame 41. The end portions ofthe seventh and eighth actuators 57, 58 are respectively fixed to theupper arm frame main body 42 and the upper arm frame rotating portion43.

Further, the driving forces generated by the seventh and eighthactuators 57, 58 are in opposite directions.

Between the first link member 44 a and the forward end portion (lowerend portion) of the forearm frame 45, there are provided ninth throughtwelfth actuators 59 through 62 for rotating the forearm frame 45relative to the upper arm frame 41. The end portions of the ninththrough twelfth actuators 59 through 62 are respectively fixed to thefirst link member 44 a and the forearm frame 45.

Between the back surface of the upper arm frame rotating portion 43 andthe back surface of the forearm frame 45, there is provided a thirteenthactuator 63 (shown only in FIG. 11) for rotating the forearm frame 45relative to the upper arm frame 41.

Next, FIG. 13 is a perspective view of the joint portion 36 of FIG. 9.In the drawing, a base 64 is fixed to the torso frame main body 32. Thebase 64 is provided with a shaft 65. The axis of the shaft 65 isparallel to the X-axis in the drawing. Further, mounted on the base 64is a rotation base 66 rotatable by 360 degrees around the shaft 65.

A shoulder frame connecting member 68 is connected to the rotation base66 through the intermediation of a hinge 67. The shoulder frameconnecting member 68 is rotatable by 180 degrees with respect to therotation base 66. The rotation axis of the shoulder frame connectingmember 68 is parallel to the Y-axis in the drawing. The shoulder framemain body 38 is fixed to the shoulder frame connecting member 68.

By connecting the torso frame 31 and the shoulder frame 37 through theintermediation of the joint portion 36, it is possible to move theshoulder frame 37 in a direction in which the upper arm is raised andlowered relative to the torso and in a direction in which the upper armis moved forwards and backwards.

The basic construction of the first through thirteenth actuators 51through 63 is the same as that shown in FIGS. 2 and 3.

The control system for the first through thirteenth actuators 51 through63 is the same as that of Embodiment 1 (FIG. 4).

Further, it is also effective to use a cover covering the outerperipheral portion and the inner peripheral portion of the entire devicein order to prevent clothes from being caught by the frames and toprevent the actuators from colliding with peripheral objects to sufferdamage, when actually putting on the device. In this case, the cover canbe formed, for example, of cloth.

Next, the operation of the device will be described. By supplying air tothe sixth actuator 56 in the state as shown in FIGS. 9 through 11, thelength of the sixth actuator 56 is reduced, and the upper arm frame 41is raised. In this state, air is supplied to the first through thirdactuators 51 through 53, whereby the upper arm frame 41 is furtherraised together with the shoulder frame 37.

That is, the upper arm frame 41 is rotated from a first position to asecond position with respect to the torso frame 31 by the driving forceof the sixth actuator 56. By driving the first through third actuators51 through 53, with the upper arm frame 41 being at the second position,the upper arm frame 41 is rotated together with the shoulder frame 37.This causes the upper arm frame 41 to be rotated to a third positionwhere the angle it makes with the first position is larger than thatwhen it is at the second position.

Further, by supplying air to the second or third actuator 52, 53 in thestate of FIGS. 9 through 11, the shoulder frame 37 is rotated around theshaft 65 of the joint portion 36 so as to move the shoulder forwards andbackwards.

Further, by supplying air to the fourth or fifth actuator 54, 55, theshoulder frame rotating portion 39 and the upper arm frame 41 arerotated so as to swing the arm forwards and backwards.

Furthermore, by supplying air to the seventh or eighth actuator 57, 58,the upper arm frame rotating portion 43 and the forearm frame 45 arerotated so as to twist the forearm relative to the upper arm.

Further, air is selectively supplied to the ninth through thirteenthactuators 59 through 63, whereby the forearm frame 45 is rotated so asto bend and stretch the forearm relative to the upper arm.

In the wearable joint driving device described above, even when thetorso frame 31, the shoulder frame 37, the upper arm frame 41, and theforearm frame 45 have a level of rigidity which allows the sameoperation irrespective of whether they are on the human body or not, sothat generation of wrinkles and looseness in the frames 31, 37, 41, 45is prevented, and it is possible to achieve an improvement in terms ofdriving force transmission efficiency and an increase in operatingamount and driving force.

Further, due to the use of the shoulder frame 37 and the first andsecond actuators 51, 52 rotating the shoulder frame 37, it is possibleto expand the rotation range for the upper arm frame 41.

Further, the torso frame 31 has the torso frame main body 32 supportedby the shoulder portion of the torso, and the chest frame 33 rotatablyconnected to the torso frame main body 32 and abutting the chest portionof the torso, so that it is possible to facilitate the wearing of thedevice as a whole regardless of the figure of the wearing person, makingit possible to substantially reduce the requisite time for putting onand taking off the device.

Furthermore, the torso frame 31 is provided with the protrusion 35protruding from the back portion of the torso frame main body 32, andthe first and sixth actuators 51, 56 are connected to the protrusion 35,so that the arrangement of the actuators 51, 56 is facilitated, and itis possible to effectively exert the driving force of the actuators 51,56.

Further, the joint portion 36 has the rotation base 66 rotatable aroundthe shaft 65, and the shoulder frame connecting member 68 rotatablyconnected to the rotation base 66 through the intermediation of thehinge 67, so that it is possible to achieve an improvement in terms ofdegree of freedom for the operation of the shoulder frame 37, making itpossible to realize various movements.

Further, the shoulder frame 37 is provided with the extension 38 aextending outwards, and the first and second actuators 51, 52 areprovided between the torso frame 31 and the extension 38 a, so that thearrangement of the actuators 51, 52 is facilitated, and the drivingforce of the actuators 51, 52 can be effectively exerted.

Furthermore, the shoulder frame 37 has the shoulder frame main body 38,and the shoulder frame rotating portion 39 rotatably fit-engaged withthe shoulder frame main portion 38, so that the upper arm frame can berotated so as to move the upper arm forwards and backwards with a simplestructure.

Further, the upper arm frame 41 has the upper arm frame main body 42,and the upper arm frame rotating portion 43 rotatably fit-engaged withthe upper arm frame main body 42, so that it is possible to rotate theforearm frame so as to twist the forearm relative to the upper arm witha simple structure.

The shoulder frame 37, the upper arm frame 41, and the forearm frame 45described above can be operated singly or in combination by drivingselectively or in parallel predetermined ones of the actuators 51through 63.

Further, the forearm frame 45 is connected to the upper arm frame 41through the link bodies with the first and second link members 44 a, 44b, so that it is possible to reduce the sizes of the upper arm frame 41and the forearm frame 45, thereby achieving a reduction in the weight asa whole.

EMBODIMENT 4

Next, FIG. 14 is a perspective view of the torso frame of a wearablejoint driving device according to Embodiment 4 of the present invention.In the drawing, a torso frame 71 has a front surface portion 72 coveringthe front surface of the torso, and a back surface portion 73 coveringthe back surface of the torso. The front surface portion 72 and the backsurface portion 73 are rotatably connected to each other at connectingportions 71 a, 71 b situated on the shoulder portions through theintermediation of hinges (not shown).

Further, the torso frame 71 is provided with sleeve openings 71 c, 71 dthrough which the arms are to be passed, and a neck opening 71 e throughwhich the neck is to be passed.

Fixed to the shoulder portions of the torso frame 71 are shoulder framemounting portions 74, 75 for the mounting of the shoulder frame 37 asshown, for example, in Embodiment 3.

When putting on the wearable joint driving device using the torso frame71 of Embodiment 4, the front surface portion 72 and the back surfaceportion 73 are first opened, and the arms are passed through the sleeveopenings 71 c, 71 d, thus the torso frame 71 is attached to the torso.Thereafter, the shoulder frame 37 is mounted to the shoulder framemounting portions 72, 73.

At this time, the upper arm frame 41 and the forearm frame 45 as shownin Embodiment 3 are previously connected to the shoulder frame 37 to beassembled as an arm attachment unit. Further, the actuators 51 through63 are also previously mounted to the arm attachment unit.

Thus, the mounting of the shoulder frame 37 to the shoulder framemounting portions 72, 73 is effected after the arms have been passedthrough the arm attachment unit. Thereafter, the actuators 51, 52, 56are connected to the torso frame 71.

In this way, it is also possible to make the torso frame 71 and the armattachment unit detachable to each other, attaching them separately.

As described above, when worn by a person physically handicapped, thewearable joint driving device of the present invention can assist theperson in his or her action. Further, when worn by a person in normalhealth, it generates a force exceeding the muscular power of the wearingperson to assist him or her in operation. As a result, it is possible tomitigate the physical burden on a person performing nursing/assistance,for example. That is, it is possible even for an aged person or a womanto perform a heavy work, such as taking up somebody in his or her arms.Further, regardless of whether a person is in normal health orphysically handicapped, it is possible to assist him or her inperforming physical work, maintain his or her posture, assist posturemaintenance, or amplify his or her force.

Further, when attached to a robot, the wearable joint driving device ofthe present invention can be used as a robot drive source.

Furthermore, by forming the frame members of a material allowingtransmittance of X-rays, for example, the device can be used in an X-rayinspection with an external force applied. Further, it can also be usedin an MRI inspection and a CT inspection.

1. A wearable joint driving device worn by a driven body having a plurality of wearing members and at least one joint portion rotatably connecting the wearing members to drive the joint portion, the wearable joint driving device comprising: a plurality of frame members of a predetermined rigidity to be attached to the wearing members so as to be in contact with outer surfaces of the wearing members; at least one fluid pressure type actuator having an expansion/contraction member undergoing expansion/contraction through supply/discharge of a fluid and a net-like covering member covering an outer periphery of the expansion/contraction member, and mounted between the frame members, the expansion/contraction member being reduced in length through expansion to thereby generate a driving force; and a control unit for controlling supply and discharge of the fluid to and from the fluid pressure type actuator.
 2. A wearable joint driving device according to claim 1, wherein the frame members attain the predetermined rigidity through supply of the fluid into their interior, and are flexible with the fluid discharged therefrom.
 3. A wearable joint driving device according to claim 1, wherein a plurality of the fluid pressure type actuators are provided, the fluid being supplied or discharged selectively or in parallel to or from the fluid pressure type actuators by the control unit.
 4. A wearable joint driving device according to claim 1, wherein the driven body has a torso and an upper arm constituting the wearing members, and a shoulder joint portion constituting the joint portion, and wherein the frame members include a torso frame attached to the torso, a shoulder frame rotatably connected to the torso frame, and an upper arm frame rotatably connected to the shoulder frame and attached to the upper arm.
 5. A wearable joint driving device according to claim 4, wherein the torso frame has a torso frame main body supported by a shoulder portion of the torso, and a chest frame rotatably connected to the torso frame main body and in contact with a chest portion of the torso.
 6. A wearable joint driving device according to claim 4, wherein the torso frame has a torso frame main body supported by a shoulder portion of the torso, and a protrusion which protrudes from a back portion of the torso frame main body and to which the fluid pressure type actuator is connected.
 7. A wearable joint driving device according to claim 4, wherein the torso frame and the shoulder frame are connected to each other through the intermediation of a joint portion, and wherein the joint portion has a base fixed to the torso frame, a shaft provided on the base, a rotation base mounted on the base and rotatable around the shaft, and a shoulder frame connecting member rotatably connected to the rotation base through the intermediation of a hinge and fixed to the shoulder frame.
 8. A wearable joint driving device according to claim 4, wherein the shoulder frame is provided with an extension extending outwardly, and wherein the fluid pressure type actuator is provided between the torso frame and the extension.
 9. A wearable joint driving device according to claim 4, wherein the shoulder frame has a ring-like shoulder frame main body connected to the torso frame, and a ring-like shoulder frame rotating portion rotatably fit-engaged with the shoulder frame main body and to which the upper arm frame is connected.
 10. A wearable joint driving device according to claim 1, wherein the driven body has an upper arm and a forearm constituting the wearing members, and an elbow joint portion constituting the joint portion, and wherein the frame members include an upper arm frame attached to the upper frame, and a forearm frame rotatably connected to the upper arm frame and attached to the forearm, the fluid pressure type actuator being connected between adjacent frames or between frames spaced apart from each other.
 11. A wearable joint driving device according to claim 10, wherein the upper arm frame has a cylindrical upper arm frame main body, and a ring-like upper arm frame rotating portion which is rotatably fit-engaged with the upper arm frame main body and to which the forearm frame is connected.
 12. A wearable joint driving device according to claim 10, wherein the forearm frame is connected to an upper arm frame through the intermediation of a link body, wherein the link body has a first link member connected to the upper arm frame and a second link member connected to the forearm frame, and wherein the first and second link members are rotatably connected to each other.
 13. A wearable joint driving device worn by a driven body having first and second wearing members and a joint portion rotatably connecting the first and second wearing members to drive the joint portion, the wearable joint driving device comprising: a first frame member to be attached to the first wearing member; a second frame member to be attached to the second wearing member; a rotation support member rotatably connected to the first frame member; a second frame member actuator provided between at least one of the first frame member and the rotation support member and the second frame member and adapted to rotate the second frame member with respect to the first frame member; and a support member actuator provided between the first frame member and the rotation support member and adapted to rotate the rotation support member with respect to the first frame member, wherein the second frame member actuator and the support member actuator are fluid pressure type actuators respectively having an expansion/contraction member undergoing expansion/contraction through supply/discharge of a fluid and a net-like covering member covering an outer periphery of the expansion/contraction member, the expansion/contraction member being reduced in length through expansion to generate a driving force, wherein the second frame member is rotated from a first position to a second position by the driving force of the second frame member actuator, and wherein, by driving the support member actuator with the second frame member being at the second position, the second frame member is rotated together with the rotation support member, whereby the second frame member is rotated to a third position where the angle the second frame member makes with the first position is larger than that when the second frame member is at the second position.
 14. A wearable joint driving device according to claim 13, wherein the first wearing member is a torso, the second wearing member is an upper arm, and the joint portion is a shoulder joint portion, wherein the first frame member is a torso frame to be attached to the torso, the second frame member is an upper arm frame to be attached to the upper arm, and the rotation support member is a shoulder frame rotatably connected to the torso frame. 